CN101550984B - Active vibration absorption control method based on mechanical vibration absorption actuating mechanism - Google Patents
Active vibration absorption control method based on mechanical vibration absorption actuating mechanism Download PDFInfo
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- CN101550984B CN101550984B CN2009100717028A CN200910071702A CN101550984B CN 101550984 B CN101550984 B CN 101550984B CN 2009100717028 A CN2009100717028 A CN 2009100717028A CN 200910071702 A CN200910071702 A CN 200910071702A CN 101550984 B CN101550984 B CN 101550984B
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Abstract
The present invention provides an active vibration absorption control method based on mechanical vibration absorption actuating mechanism. The rotating speeds and phase signals of mechanical main shaft and vibration absorption actuating mechanism are simultaneously input into a DSP controller for determining the rotating speed difference. Furthermore the rotating speed tracking is executed. A control signal is output from a DSP to a transducer for controlling a vibration absorption actuating mechanism to execute rotating speed adjustment. Whether the rotating speed is consistent continuously and whether the precision requirement of rotating speed tracking is satisfied in a certain time period are determined. If the requirement is satisfied, a phase adjustment is executed, and or else the rotating speed tracking is executed again. The phase difference is determined and is compared with a phase adjustment threshold. If the phase difference is larger than the phase adjustment threshold, phase adjustment is executed. The DSP controller outputs a control signal to the transducer for controlling the vibration absorption actuating mechanism to execute fine adjustment of rotating speed, and the tracking of rotating speed is completed again. If the phase difference is not larger than the phase adjustment threshold, the phase adjustment is completed. The active vibration absorption control method of the invention has the advantages of strong interference resistance, low cost and strong versatility. The engineering requirement of active vibration absorption can be satisfied excellently.
Description
(1) technical field
What the present invention relates to is a kind of mechanical vibration control method, is specifically related to a kind of active weakening controlling method based on mechanical type weakening actuator.
(2) background technique
Rotation class machinery is widely used in boats and ships and other industrial field, and the low-frequency cycle property vibration that its running produces is the main excitation source of Ship Structure vibration noise, has a strong impact on Security, disguise and the occupant's of boats and ships operation travelling comfort.Traditional Passive Control technology, as the passive vibration isolation technology, externally the scramble rate is greater than equipment---the vibration isolator system frequency
Times the time could play damping effect, but low excessively system frequency can cause the excessive problem with unstability of quiet distortion when realizing, cause a low frequency vibration isolation difficult problem.Active weakening technology based on the electrodynamic mechanical type final controlling element is a kind of effective control technique of vibrating at the strong line spectrum of low-frequency cycle property specially.Its basic principle is: two of motoring have the eccentric mass of equal in quality with the counterrotating of k times of engine spindle synchronization, the centrifugal force of two rotating eccentricity pieces is cancelled each other on level (vertically) direction, and vertically superposeing on (level) direction, so just on vertical or substantially horizontal, produced amplitude and phase place is adjustable and simple harmonic quantity changes control force, if the structural vibration that control force causes equates with the magnitude of vibrations that motor k rank excitation causes, direction is opposite, has promptly reached the initiatively purpose of weakening.The major advantage of electrodynamic mechanical type weakening is that the frequency that has of mechanical type actuator is low, exciting force is big, is fit to the control that the low-frequency cycle property of heavy mechanical equipment is shaken.
The electrodynamic mechanical type vibration absorber can have a variety of forms, the power width of cloth controlling mechanism that mainly is final controlling element drags the different of form with motor, its basic principle is the same, all once develops own serial electronic vibration absorber as Busan, Korea national university and Harbin Engineering University.The core technology of weakening technology is to need accurately stable phase adjusted tracking and controlling method, and the mechanism of phase modulation algorithm weakening accurately just can not work.Existing phasing technique generally all need to import boss rod phase signal, actuator phase signal and as the controlled structural vibrations signal of error signal, yet prior art is mostly to input request signal strictness and calculation of complex, and this just causes comparatively shortcomings such as complexity, cost is higher, versatility is poor, difficult realization of control system.In addition, utilize controlled structural vibrations signal to make feedback signal, be subjected to the interference of other vibration source easily, thereby cause the instability of control system.Chinese patent publication number CN2787922 and publication number are all to have provided the mechanical type weakening actuator that proposes separately in the patent document of CN101363502, but all do not provide initiatively weakening control system and controlling method thereof, still can't practical application.
(3) summary of the invention
The object of the present invention is to provide a kind of energy to eliminate or cut down the mechanical vibration that cause by rotating machinery, particularly the active weakening controlling method of vibrating at the strong line spectrum of its low-frequency cycle property that causes based on mechanical type weakening actuator.
The object of the present invention is achieved like this:
Defined variable, initialization are promptly set phase difference and are regulated threshold value, set control program input, output convergence coefficient; The rotating speed of the mechanical main shaft that mechanical main shaft speed probe, mechanical main shaft phase detector, weakening actuator speed probe, weakening actuator phase detector record and phase signal and weakening actuator rotating speed and phase signal are input in the dsp controller simultaneously, at first carrying out the rotating speed difference judges, and startup rotating-speed tracking program is carried out rotating-speed tracking, give frequency variator by dsp controller output control signal, control weakening actuator carries out rotational speed regulation; Judge whether rotating speed continues to equate whether satisfy the rotating-speed tracking required precision within a certain period of time, if meet the demands, then carries out phase adjusted, otherwise carries out rotating-speed tracking once more; Judge phase difference value and compare with the phase modulation threshold value, if phase difference value carries out phase adjusted greater than regulating threshold value, give frequency variator by dsp controller output control signal, control weakening actuator carries out the rotating speed fine setting, and finish rotating-speed tracking again, otherwise jump out the phase modulation program, promptly phase modulation finishes.
Active weakening controlling method based on mechanical type weakening actuator of the present invention can also comprise:
1, the described rotating speed difference of at first carrying out is judged, and starting the rotating-speed tracking program, to carry out rotating-speed tracking be the rotating-speed tracking algorithm that adopts based on adaptive filter algorithm LMS, tach signal d with vibration source is a desired signal, the tach signal y of vibration absorber is an output signal, error signal e is poor for both, reference signal X is arbitrary constant, and filter order is taken as single order, and the overall process of the LMS algorithm after the distortion is:
y＝WX
e＝d-y
W(n+1)＝W(n)+2μeX
In the formula: W-----adjusts power
μ-----convergence coefficient.
2, phase difference value is divided several zones, the different control command of output in different regional extents, thus rapidly phase difference is adjusted to target phase.
The invention has the advantages that:
At first, controlling method of the present invention compared with prior art, only need to detect the rotating speed and the phase signal of the rotating speed of mechanical machine spindle and phase signal, weakening actuator, do not need to detect controlled structural vibrations signal and make feedback signal, this has not only simplified control system, also improved simultaneously initiatively weakening control system anti-interference of vibration, have simple in structure, cost is low, the advantage of highly versatile.
Secondly, control algorithm of the present invention is simple and effective self adaption rotating-speed tracking and phase modulation algorithm, and the controller that is adopted is DSP, its remarkable arithmetic speed makes that the vibration active control system reaction time among the present invention is rapid, can pick up the state of changing of excitation source rotating speed and phase place fast, in time make output order, the running of control vibration absorber, reach the purpose of rotating speed and Phase Tracking, timely and effective inhibition vibratory response.
In sum, the present invention's active weakening control system and method have strong interference immunity, and the reaction time is short, control system is simple in structure, cost is low, the advantage of highly versatile, is well positioned to meet initiatively weakening engine request of vibration, reaches the purpose that suppresses vibration.
(4) description of drawings
Fig. 1 (a), Fig. 1 (b) are two kinds of vibration active control system schematic representation based on mechanical type weakening actuator, and wherein Fig. 1 (a) weakening actuator is installed on the machinery, and Fig. 1 (b) weakening actuator is arranged on the fondational structure;
Fig. 2 phase modulation threshold values and phase difference value are divided figure;
Fig. 3 is weakening phase modulation frequency modulation control algorithm flow block diagram initiatively;
Fig. 4 motor-pumping plant vibration is weakening control pilot system schematic representation initiatively;
Fig. 5 (a), Fig. 5 (b) motor-pumping plant footing 1 be weakening front and back acceleration responsive spectrogram initiatively, and wherein active weakening front and back acceleration responsive is composed on Fig. 5 (a) passive vibration isolation device, and Fig. 5 (b) passive vibration isolation device active weakening front and back acceleration responsive is down composed;
Fig. 6 (a), Fig. 6 (b) motor-pumping plant footing 2 be weakening front and back acceleration responsive spectrogram initiatively, and wherein active weakening front and back acceleration responsive is composed on Fig. 6 (a) passive vibration isolation device, and Fig. 6 (b) passive vibration isolation device active weakening front and back acceleration responsive is down composed;
Fig. 7 (a), Fig. 7 (b) motor-pumping plant footing 3 be weakening front and back acceleration responsive spectrogram initiatively, and wherein active weakening front and back acceleration responsive is composed on Fig. 7 (a) passive vibration isolation device, and Fig. 7 (b) passive vibration isolation device active weakening front and back acceleration responsive is down composed;
Fig. 8 (a), Fig. 8 (b) motor-pumping plant footing 4 be weakening front and back acceleration responsive spectrogram initiatively, and wherein active weakening front and back acceleration responsive is composed on Fig. 8 (a) passive vibration isolation device, and Fig. 8 (b) passive vibration isolation device active weakening front and back acceleration responsive is down composed;
Fig. 9 is the phase range division table of different adjustment step-length.
(5) embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Overall plan of the present invention is: initiatively the weakening control system mainly comprises signals collecting and the treated section that mechanical main shaft (excitation source) speed probe, mechanical main shaft phase detector, weakening actuator speed probe, weakening actuator phase detector and dsp controller are constituted.The mechanical main shaft speed probe measures the tach signal of mechanical main shaft, and the mechanical main shaft phase detector measures the current phase signal of mechanical main shaft; Weakening actuator speed probe measures the tach signal of vibration absorber, and weakening actuator phase detector measures the current phase signal of vibration absorber.Dsp controller judges and computing that according to the tach signal and the weakening actuator tach signal of mechanical main shaft output control signal control weakening actuator carries out rotational speed regulation, finishes rotating-speed tracking; Judge and computing according to the phase signal and the weakening actuator phase signal of mechanical main shaft by dsp controller again, output control signal control weakening actuator carries out the rotating speed fine setting, and finish rotating-speed tracking again, finally finish the rotating speed and the phase adjusted of weakening actuator, the vibration that weakening actuator is caused equates with the mechanical vibration frequency that the excitation source causes, phase difference 180 degree reach the purpose that vibration is initiatively subdued.
One of key link of the present invention is the rotating-speed tracking algorithm, and its method is:
The rotating-speed tracking algorithm adopts the rotating-speed tracking algorithm based on adaptive filter algorithm LMS, and it has that algorithm is simple, amount of calculation is little, tracking accuracy is high and characteristics such as convergence is fast.Tach signal d with vibration source is a desired signal, and the tach signal y of vibration absorber is an output signal, and error signal e is poor for both, and reference signal X is arbitrary constant.Because rotating speed is more stable, change slowlyer, consider the rapidity of calculating, filter order can be taken as single order.The overall process of the LMS algorithm after the distortion is as follows:
y＝WX
e＝d-y (1)
W(n+1)＝W(n)+2μeX
In the formula: W-----adjusts power
μ-----convergence coefficient
Another key technology of the present invention is the Phase Tracking controlling method, and its method is:
The present invention is by in the certain hour section, changes the rotating speed of vibration absorber earlier, and the method for tracking target rotating speed realizes phase adjusted again.Judge phase difference value is to equate to be condition with the vibration absorber rotating speed with the excitation source, therefore each phase adjusted all is to carry out after rotating-speed tracking is finished.Because there is unstability in excitation source rotating speed, can not per strictness at quarter realize antiphase, be the convergence that guarantees the Phase Tracking strategy, the present invention is provided with the phase adjusted threshold values.If the absolute value of current phase place and target phase difference during less than the phase adjusted threshold values, thinks that promptly phase adjusted finishes.Control algorithm is carried out immediately monitoring to rotating speed and phase difference, and when wherein one when not meeting the demands of rotating speed and phase difference, speed governing phase modulation program OnNow is also regulated.After phase difference value is judged, control program will send control command, rapidly phase difference value will be adjusted in the phase modulation threshold values scope, and this promptly requires the phase adjusted fast convergence rate and does not disperse.Phase difference value is divided several zones here, the different control command of output in different regional extents, thus rapidly phase difference is adjusted to target phase.
Can see that by table 1 along with the increase of regulating the step-length multiple, the phase range division numbers reduces to some extent, regulate the increase of step-length span but set.Phase range is divided too much, and it is various to regulate number of times, can cause phase adjusted speed to be slowed down; Divide less phase range, adjusting step-length span is big, causes phase adjusted speed to be slowed down equally in certain some specific angle.This shows that the phase range division numbers only under suitable situation, just can have phase adjusted speed faster.
The present invention's active weakening control system as shown in Figure 1, system comprises signals collecting and the treated section that mechanical main shaft speed probe 11, mechanical main shaft phase detector 12, weakening actuator speed probe 9, weakening actuator phase detector 10 and dsp controller 6 are constituted, also comprise the electricity frequency control section that is constituted by frequency variator 7 and ac power supply 8, and the do-part of mechanical type weakening actuator 3 formations.Weakening actuator both can be installed in subdues the transmission of mechanical vibration to basis 1 on the machinery 2, as Fig. 1 (a), also can be positioned on the basis 1, directly subdues the structural vibration on basis, as Fig. 1 (b).Mechanical main shaft speed probe 11 measures the tach signal of mechanical main shaft by gear 5, and mechanical main shaft phase detector 12 measures the current phase signal of mechanical main shaft by gear 5; Weakening actuator speed probe 9 measures the tach signal of weakening actuator by gear 4, and weakening mechanism phase detector 10 measures the current phase signal of weakening actuator by gear 4.Controlling method (referring to Fig. 3) is: defined variable, initialization (set phase difference and regulate threshold value, set control program input, output convergence coefficient); The rotating speed of mechanical main shaft and phase signal and weakening actuator rotating speed and phase signal are input in the dsp controller 6 simultaneously, at first carrying out the rotating speed difference judges, and startup rotating-speed tracking program is carried out rotating-speed tracking, give frequency variator 7 by dsp controller 6 output control signals, control weakening actuator carries out rotational speed regulation; Judge whether rotating speed continues to equate whether satisfy the rotating-speed tracking required precision within a certain period of time, if meet the demands, then carries out phase adjusted, otherwise carries out rotating-speed tracking once more; Judge phase difference value and compare with the phase modulation threshold value, if phase difference value carries out phase adjusted greater than regulating threshold value, give frequency variator 7 by dsp controller 6 output control signals, control weakening actuator carries out the rotating speed fine setting, and finish rotating-speed tracking again, otherwise jump out the phase modulation program, promptly phase modulation finishes; This control algorithm is carried out immediately monitoring to rotating speed and phase difference, and when wherein one when not satisfying predetermined requirement of rotating speed and phase difference, speed governing phase modulation program OnNow is also regulated.
Prove feasibility of the present invention and validity by an example.As shown in Figure 4 be the initiatively schematic representation of weakening control experimental system of one motor-pumping plant vibration.Wherein, 21-excitation source (motor); The 22-water pump; The 23-vibration absorber; The 24-speed probe; The 25-phase detector; The 26-controller; The 27-frequency variator; The 28-PC computer; The 29-signal sampler; The 30-acceleration passes device.
Active weakening control gear and controlling method based on mechanical type weakening actuator provided by the invention are adopted in control, and actuator's mounting type adopts the mounting type shown in Fig. 1 (a), are about to weakening actuator and are installed on the excitation source (motor).The rated speed of control motor-water pump main shaft is 3000r/min, i.e. its running causes that the fundamental frequency of vibration is 50Hz.Purpose is the fundamental vibration that will initiatively subdue motor-pump operation and produced.The dither of its generation can be by being installed on device the passive vibration isolation device (rubber vibration isolator) at four footing places isolate.Fig. 5-the 8th is respectively the active weakening front and back acceleration responsive spectrogram at motor- pumping plant footing 1,2,3,4 places.Contrast is controlled the vibratory response up and down of preceding vibration isolator as can be seen, and the above dither of 300Hz can effectively be isolated by rubber vibration isolator, and the fundamental frequency 50Hz vibration that motor-water pump main axis rotation causes is the main vibration of low frequency, and rubber vibration isolator is powerless to it.Yet by contrasting four footing place control porpoise responses as can be seen, active weakening control system that the present invention proposes and controlling method thereof can effectively be subdued the fundamental frequency 50Hz vibration that is caused by the electric machine main shaft rotation.Concrete control effect is: footing 1 rubber vibration isolator up-down vibration attenuation all reaches 66.7% (9.5dB); Vibration attenuation reaches 78.9% (13.5dB) on footing 2 rubber vibration isolators, and attenuation is about 98% (35dB) under the vibration isolator; Footing 3 rubber vibration isolator up-down vibration attenuations all reach 86.4% (17dB); Footing 4 rubber vibration isolator up-down vibration attenuations all reach 94% (24.5dB).
Claims (1)
1. active weakening controlling method based on mechanical type weakening actuator is characterized in that: defined variable, initialization, and promptly set phase difference and regulate threshold value, set control program input, output convergence coefficient; The rotating speed of the mechanical main shaft that mechanical main shaft speed probe, mechanical main shaft phase detector, weakening actuator speed probe, weakening actuator phase detector record and phase signal and weakening actuator rotating speed and phase signal are input in the dsp controller simultaneously, at first carrying out the rotating speed difference judges, and startup rotating-speed tracking program is carried out rotating-speed tracking, give frequency variator by dsp controller output control signal, control weakening actuator carries out rotational speed regulation; Judge whether rotating speed continues to equate whether satisfy the rotating-speed tracking required precision within a certain period of time, if meet the demands, then carries out phase adjusted, otherwise carries out rotating-speed tracking once more; Judge phase difference value and regulate threshold value and compare with phase difference, if regulating threshold value greater than phase difference, phase difference value carries out phase adjusted, give frequency variator by dsp controller output control signal, control weakening actuator carries out the rotating speed fine setting, and finish rotating-speed tracking again, otherwise jump out the phase modulation program, promptly phase modulation finishes;
Described mechanical type weakening actuator is a vibration absorber, the described rotating speed difference of at first carrying out is judged, and starting the rotating-speed tracking program, to carry out rotating-speed tracking be the rotating-speed tracking algorithm that adopts based on adaptive filter algorithm LMS, tach signal d with vibration source is a desired signal, the tach signal y of vibration absorber is an output signal, and error signal e is poor for both, and reference signal X is arbitrary constant, filter order is taken as single order, and the overall process of the LMS algorithm after the distortion is:
y＝WX
e＝d-y
W(n+1)＝W(n)+2μeX
In the formula: W-----adjusts power
μ-----convergence coefficient;
Described phase difference value is phase difference value to be divided several zones, the different control command of output in different regional extents, thus rapidly phase difference is adjusted to target phase.
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| CN2009100717028A CN101550984B (en) | 2009-04-03 | 2009-04-03 | Active vibration absorption control method based on mechanical vibration absorption actuating mechanism |
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| CN2009100717028A CN101550984B (en) | 2009-04-03 | 2009-04-03 | Active vibration absorption control method based on mechanical vibration absorption actuating mechanism |
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| CN101985968B (en) * | 2010-12-09 | 2012-02-01 | 哈尔滨工程大学 | Active vibration absorber based on phase regulating mechanism |
| CN102338191B (en) * | 2011-07-01 | 2013-06-05 | 三一重工股份有限公司 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
| CN102322497A (en) * | 2011-07-01 | 2012-01-18 | 三一重工股份有限公司 | Method and system for inhibiting vibration of arm support and arm support type engineering machinery |
| CN103742593A (en) * | 2014-01-24 | 2014-04-23 | 哈尔滨工程大学 | Method for controlling anisotropic vibration of torsional vibration shaft system |
| CN107061604A (en) * | 2016-11-23 | 2017-08-18 | 浙江工业大学 | A kind of semi- active control buoyant raft shock-resistant system |
| CN106836379B (en) * | 2017-02-16 | 2019-11-05 | 江苏大学 | It is a kind of can intelligent vibration damping pumping plant installation method |
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